US2020334786A1PendingUtilityA1

Efficient Image Demosaicing and Local Contrast Enhancement

Assignee: INTUITIVE SURGICAL OPERATIONSPriority: Aug 9, 2013Filed: Jun 30, 2020Published: Oct 22, 2020
Est. expiryAug 9, 2033(~7 yrs left)· nominal 20-yr term from priority
Inventors:Wenyi Zhao
H04N 23/843H04N 23/555H04N 25/134A61B 2576/00G06T 3/4015G16H 30/40H04N 2005/2255H04N 9/045
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Claims

Abstract

An exemplary method includes a demosaic module receiving a frame of raw pixels having values in a first color space, generating vertical and horizontal color difference signals using information from the frame of raw pixels, generating reconstructed color pixel values for raw pixels that are missing captured color pixel values of a first color component of the first color space, and transforming the captured and reconstructed color pixel values of the first color component to brightness pixel values in a second color space. In certain examples, the demosaic module may transform the vertical and horizontal color difference signals into other pixel values (e.g., chrominance pixel values) in the second color space.

Claims

exact text as granted — not AI-modified
What is claimed is: 
     
         1 . A method comprising:
 receiving, by a demosaic module, a frame of raw pixels captured by an image capture sensor in an image capture unit having a color filter array, each location in the frame of raw pixels including one captured color pixel value and missing two color pixel values of a first color space;   generating, by the demosaic module for each location in the frame of raw pixels, a vertical color difference signal and a horizontal color difference signal using information from the frame of raw pixels;   generating, by the demosaic module for each location in the frame of raw pixels that is missing a captured color pixel value of a first color component of the first color space, a reconstructed color pixel value of the first color component such that a captured color pixel value or a reconstructed color pixel value of the first color component is known for each location in the frame of raw pixels; and   transforming, by the demosaic module for each location in the frame of raw pixels and without using a color pixel value of a second color component of the first color space, the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to a brightness pixel value in a second color space that is different from the first color space.   
     
     
         2 . The method of  claim 1 , wherein:
 the first color component of the first color space comprises a green color component of the first color space; and   the second color component of the first color space comprises a red or a blue color component of the first color space.   
     
     
         3 . The method of  claim 1 , wherein transforming the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to the brightness pixel in the second color space for each location in the frame of raw pixels is performed without using a color pixel value of a third color component of the first color space. 
     
     
         4 . The method of  claim 1 , wherein transforming the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to the brightness pixel in the second color space for each location in the frame of raw pixels comprises scaling the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location with a scale factor. 
     
     
         5 . The method of  claim 1 , further comprising:
 transforming, by the demosaic module for each location in the frame of raw pixels, the vertical color difference signal and the horizontal color difference signal of the respective location into chrominance pixel values in the second color space.   
     
     
         6 . The method of  claim 1 , wherein the first color space comprises a red color component, a green color component, and a blue color component. 
     
     
         7 . The method of  claim 1 , further comprising:
 generating, by the demosaic module for each location in the frame of raw pixels, a vertical estimated color pixel value and a horizontal estimated color pixel value using information from the frame of raw pixels, wherein for a location in the frame of raw pixels having a captured color pixel value of the second color component of the first color space, the vertical estimated color pixel value is of the first color component of the first color space, and the horizontal estimated color pixel value is of the first color component of the first color space;   wherein generating the vertical color difference signal and the horizontal color difference signal for each location in the frame of pixels uses the vertical estimated color pixel value and the horizontal estimated color pixel value, wherein for the location in the frame of raw pixels having the captured color pixel value of the second color component of the first color space, the vertical color difference signal is generated based on the vertical estimated color pixel value of the first color component of the first color space, and the horizontal color difference signal is generated based on the horizontal estimated color pixel value of the first color component of the first color space.   
     
     
         8 . A system comprising:
 a processor; and   a memory communicatively coupled to the processor and storing instructions executable by the processor to:
 receive a frame of raw pixels captured by an image capture sensor in an image capture unit having a color filter array, each location in the frame of raw pixels including one captured color pixel value and two missing color pixel values of a first color space; 
 generate, for each location in the frame of raw pixels, a vertical color difference signal and a horizontal color difference signal using information from the frame of raw pixels; 
 generate, for each location in the frame of raw pixels that is missing a captured color pixel value of a first color component of the first color space, a reconstructed color pixel value of the first color component such that a captured color pixel value or a reconstructed color pixel value of the first color component is known for each location in the frame of raw pixels; and 
 transform, for each location in the frame of raw pixels and without using a color pixel value of a second color component of the first color space, the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to a brightness pixel value in a second color space that is different from the first color space. 
   
     
     
         9 . The system of  claim 8 , wherein:
 the first color component of the first color space comprises a green color component of the first color space; and   the second color component of the first color space comprises a red or a blue color component of the first color space.   
     
     
         10 . The system of  claim 8 , wherein transforming the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to the brightness pixel in the second color space for each location in the frame of raw pixels is performed without using a color pixel value of a third color component of the first color space. 
     
     
         11 . The system of  claim 8 , wherein transforming the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to the brightness pixel in the second color space for each location in the frame of raw pixels comprises scaling the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location with a scale factor. 
     
     
         12 . The system of  claim 8 , the instructions further executable by the processor to:
 transform, for each location in the frame of raw pixels, the vertical color difference signal and the horizontal color difference signal of the respective location into chrominance pixel values in the second color space.   
     
     
         13 . The system of  claim 8 , wherein the first color space comprises a red color component, a green color component, and a blue color component. 
     
     
         14 . The system of  claim 8 , the instructions further executable by the processor to:
 generate, for each location in the frame of raw pixels, a vertical estimated color pixel value and a horizontal estimated color pixel value using information from the frame of raw pixels, wherein for a location in the frame of raw pixels having a captured color pixel value of the second color component of the first color space, the vertical estimated color pixel value is of the first color component of the first color space, and the horizontal estimated color pixel value is of the first color component of the first color space;   wherein generating the vertical color difference signal and the horizontal color difference signal for each location in the frame of pixels uses the vertical estimated color pixel value and the horizontal estimated color pixel value, wherein for the location in the frame of raw pixels having the captured color pixel value of the second color component of the first color space, the vertical color difference signal is generated based on the vertical estimated color pixel value of the first color component of the first color space, and the horizontal color difference signal is generated based on the horizontal estimated color pixel value of the first color component of the first color space.   
     
     
         15 . A non-transitory computer-readable medium storing instructions executable by a processor to:
 receive a frame of raw pixels captured by an image capture sensor in an image capture unit having a color filter array, each location in the frame of raw pixels including one captured color pixel value and two missing color pixel values of a first color space;   generate, for each location in the frame of raw pixels, a vertical color difference signal and a horizontal color difference signal using information from the frame of raw pixels;   generate, for each location in the frame of raw pixels that is missing a captured color pixel value of a first color component of the first color space, a reconstructed color pixel value of the first color component such that a captured color pixel value or a reconstructed color pixel value of the first color component is known for each location in the frame of raw pixels; and   transform, for each location in the frame of raw pixels and without using a color pixel value of a second color component of the first color space, the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to a brightness pixel value in a second color space that is different from the first color space.   
     
     
         16 . The non-transitory computer-readable medium of  claim 15 , wherein:
 the first color component of the first color space comprises a green color component of the first color space; and   the second color component of the first color space comprises a red or a blue color component of the first color space.   
     
     
         17 . The non-transitory computer-readable medium of  claim 15 , wherein transforming the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to the brightness pixel in the second color space for each location in the frame of raw pixels is performed without using a color pixel value of a third color component of the first color space. 
     
     
         18 . The non-transitory computer-readable medium of  claim 15 , wherein transforming the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location to the brightness pixel in the second color space for each location in the frame of raw pixels comprises scaling the captured color pixel value or the reconstructed color pixel value of the first color component of the respective location with a scale factor. 
     
     
         19 . The non-transitory computer-readable medium of  claim 15 , the instructions further executable by the processor to:
 transform, for each location in the frame of raw pixels, the vertical color difference signal and the horizontal color difference signal of the respective location into chrominance pixel values in the second color space.   
     
     
         20 . The non-transitory computer-readable medium of  claim 15 , wherein the first color space comprises a red color component, a green color component, and a blue color component.

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